/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/* 
 * Author: Chad Rockey
 */

#ifndef DEPTH_IMAGE_TO_LASERSCAN_ROS
#define DEPTH_IMAGE_TO_LASERSCAN_ROS

#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>

#include <depthimage_to_laserscan/DepthImageToLaserScan.h>

namespace depthimage_to_laserscan
{ 
  class DepthImageToLaserScanROS
  {
  public:
    explicit DepthImageToLaserScanROS(rclcpp::Node::SharedPtr & node);
    
    ~DepthImageToLaserScanROS();

  private:
    /**
     * Callback for image_transport
     * 
     * Callback for depth image.  Publishes laserscan at the end of this callback.
     * 
     * @param image Image provided by image_transport.
     * 
     */
    void depthCb(const sensor_msgs::msg::Image::SharedPtr image);

    void infoCb(sensor_msgs::msg::CameraInfo::SharedPtr info);

    rclcpp::Node::SharedPtr node_;
    sensor_msgs::msg::CameraInfo::SharedPtr cam_info_;

    rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr cam_info_sub_;
    rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr depth_image_sub_;

    rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr scan_pub_;

    depthimage_to_laserscan::DepthImageToLaserScan dtl_; ///< Instance of the DepthImageToLaserScan conversion class.
  };
  
  
} // depthimage_to_laserscan

#endif
